CN114568955A

CN114568955A - Control method for opening and closing cover

Info

Publication number: CN114568955A
Application number: CN202210213361.9A
Authority: CN
Inventors: 蒋洪彬; 韦伟; 吴任迪; 梁贵林; 张卫东
Original assignee: Tineco Intelligent Technology Co Ltd
Current assignee: Tineco Intelligent Technology Co Ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2022-06-03

Abstract

The embodiment of the application provides a control method for opening and closing a cover, and in the embodiment of the application, the control method for opening and closing the cover comprises the following steps: acquiring an instruction for controlling the opening and closing of the pot cover, and controlling a motor to drive the pot cover to move in the opening and closing direction corresponding to the instruction; determining the opening and closing angle of the pot cover in the first stage in the process that the motor drives the pot cover to move; and under the condition that the opening and closing angle meets a preset opening and closing condition, switching the first stage to a second stage, wherein the voltage duty ratios of the motor in the first stage and the second stage are different. The realization can confirm the degree of opening and shutting through the mode of detecting the angle when opening and shutting based on instruction control pot cover to can open and shut the switching that the condition carried out motor drive mode according to the angle, thereby realize driving the pot cover motion with different power in different stages, reduce the loss that the collision produced, thereby improve user experience and feel.

Description

Control method for opening and closing cover

Technical Field

The application relates to the technical field of intelligent household appliances, in particular to a control method for a switch cover.

Background

Along with the improvement of living standard, the automatic cooking machine gradually enters the life of people. The automatic cooker can control the automatic opening or closing of the cooker cover through the motor, when the cooker cover is opened or closed to a certain degree, the light touch switch at the opening or closing position can be triggered, the motor is controlled to stop running according to a signal generated by the light touch switch, and the purpose of automatically opening or closing the cooker cover is achieved.

However, because structural tolerance exists between the cooker cover and the tact switch, time deviation exists when the tact switch is triggered; in addition, the tact switch also requires debounce detection logic, which further lengthens the time to trigger the tact switch, causing the lid to be opened or closed excessively. Meanwhile, considering that the accuracy of the automatic cover opening and closing process is low, the pot cover cannot be opened or closed effectively, and the pot cover or the motor gear box is damaged due to the fact that the motor runs excessively, an effective scheme is urgently needed to solve the problems.

Disclosure of Invention

A plurality of aspects of the application provide the switch cover control method for the drive relation between pot cover and the motor has been improved, thereby realize when the pot cover switch, can be more convenient, in order to improve user's experience sense.

The embodiment of the application provides a method for controlling an opening and closing cover, which comprises the following steps: acquiring an instruction for controlling the opening and closing of the pot cover, and controlling a motor to drive the pot cover to move in the opening and closing direction corresponding to the instruction; determining the opening and closing angle of the pot cover in the first stage in the process that the motor drives the pot cover to move; and under the condition that the opening and closing angle meets a preset opening and closing condition, switching the first stage to a second stage, wherein the voltage duty ratios of the motor in the first stage and the second stage are different.

The embodiment of the application further provides a method for controlling the opening and closing of the cover, which comprises the following steps: acquiring an instruction for controlling the opening and closing of the pot cover, and controlling a motor to drive the pot cover to move in the opening and closing direction corresponding to the instruction; determining the opening and closing angle of the pot cover in the process of driving the pot cover to move by the motor; and under the condition that the opening and closing angle meets the preset opening and closing condition, controlling the motor to reduce the voltage duty ratio to drive the pot cover to move.

The embodiment of the application also provides a method for controlling the opening and closing of the cover, the method is applied to intelligent cooking equipment, the intelligent cooking equipment comprises a pot body and a pot cover, the pot body and the pot cover are hinged through a rotating shaft, and the pot cover is driven by a motor; acquiring an instruction for controlling the opening and closing of the pot cover, and controlling a motor to drive the pot cover to move in the opening and closing direction corresponding to the instruction; determining the opening and closing angle of the pot cover in the process of driving the pot cover to move by the motor; and under the condition that the opening and closing angle meets the preset opening and closing condition, adjusting the voltage duty ratio corresponding to the motor.

According to the control method for opening and closing the cover, based on the obtained opening and closing instruction for controlling the cover, the motor can be controlled to drive the cover to move in the opening and closing direction corresponding to the instruction; and in the process that the motor drives the pot cover to move, the opening and closing angle of the pot cover is collected in real time, whether the opening and closing angle at each moment meets the preset opening and closing condition is judged based on the opening and closing angle at each moment, the stages are switched until the opening and closing angle at a certain moment meets the condition, the purpose of automatically opening and closing the pot cover is achieved, when the pot cover is controlled to be opened and closed based on an instruction, the opening and closing degree can be determined through the angle detection mode, the switching of the motor driving mode can be carried out according to the angle opening and closing condition, the pot cover is driven to move at different powers at different stages, the loss caused by collision is reduced, and other operations are not needed to be additionally carried out by a user, the pot cover can be more convenient for the user to use, and the user experience is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic flow chart of a method for controlling an opening and closing cover according to an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic flow chart of another method for controlling the opening and closing of the cover according to an exemplary embodiment of the present disclosure;

fig. 3a is a schematic structural diagram of an intelligent cooking device according to an exemplary embodiment of the present application;

FIG. 3b is a schematic flow chart illustrating another method for controlling the opening and closing of the cover according to an exemplary embodiment of the present disclosure;

fig. 4a is a schematic structural diagram of an electric machine provided in an exemplary embodiment of the present application;

fig. 4b is a schematic structural diagram of a kitchen robot according to an exemplary embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Aiming at the convenience of operation of a user when the pot cover is opened, the embodiment of the application provides a scheme for automatically controlling the opening and closing of the pot cover, and the scheme can firstly control a motor to drive the pot cover to move in the opening and closing direction corresponding to the command based on the obtained opening and closing command for controlling the pot cover; and in the process that the motor drives the pot cover to move, the opening and closing angle of the pot cover is collected in real time, whether the opening and closing angle meets the preset opening and closing condition is judged based on the opening and closing angle at each moment, the switching stage of the motor is controlled until the opening and closing angle at a certain moment meets the condition, and in the process, the motor is set to correspond to two stages in order to reduce the collision between the pot cover and the pot body, in the first stage, whether the motor drives the pot cover to meet the condition in the first stage is determined by comparing the opening and closing angle with the preset opening and closing condition, and after the condition is met, the switching is carried out to the second stage, wherein the voltage duty ratio of the motor in the second stage is different from the voltage duty ratio corresponding to the first stage, so that the power change of the motor is formed, the slow movement trend of the pot cover is influenced, and the purpose of automatically and intelligently controlling the pot cover to open and close is achieved, and the user does not need to additionally perform other operations, so that the use of the mobile terminal by the user can be more convenient, and the experience feeling of the user is improved.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flowchart of a method for controlling an opening and closing cover according to an exemplary embodiment of the present application, where as shown in fig. 1, the method includes:

step S102, acquiring a command for controlling the opening and closing of the pot cover, and controlling a motor to drive the pot cover to move in the opening and closing direction corresponding to the command;

step S104, determining the opening and closing angle of the pot cover in the first stage in the process of driving the pot cover to move by the motor;

and S106, under the condition that the opening and closing angle meets a preset opening and closing condition, switching the first stage to a second stage, wherein the voltage duty ratios of the motor in the first stage and the second stage are different.

The method for controlling the opening and closing of the cover is suitable for any kitchen robot capable of automatically controlling the opening and closing of the cover, such as an automatic cooker, an electric baking pan or an electric cooker. The kitchen robot may include a master control unit, which may be, for example but not limited to: a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Micro Control Unit (MCU), a Processing chip implemented based on a Field Programmable Gate Array (FPGA) or a Complex Programmable Logic Device (CPLD), or a single chip microcomputer. The main control unit can receive an instruction for controlling the opening and closing of the pot cover and control the motor to drive the pot cover to move in the opening and closing direction corresponding to the instruction. Wherein, the instruction for controlling the opening and closing of the pot cover comprises an opening instruction or a closing instruction.

Accordingly, the embodiment is not limited to the embodiment of receiving the command for controlling the opening and closing of the pot cover. In an alternative embodiment, the kitchen robot has a voice recognition function, and the user may give an instruction for controlling the opening and closing of the pot lid to the kitchen robot by voice, and the instruction instructs the kitchen robot to open or close the pot lid. For example, the user may say to the kitchen robot: the main control unit of the kitchen robot receives the uncovering instruction and controls the motor to drive the pot cover to move in the opening and closing direction corresponding to the opening and closing instruction. In yet another optional embodiment, the kitchen robot has a display screen, and a user can click a virtual key on a menu to open or close the pot cover through the display screen to send a cover opening instruction or a cover closing instruction to the kitchen robot, and the main control unit of the kitchen robot receives the cover opening instruction or the cover closing instruction and controls the motor to drive the pot cover to move in the opening and closing direction corresponding to the instruction.

Accordingly, the present embodiment does not limit the opening and closing manner of the lid, and may be, for example, opened and closed up and down, or opened and closed by rotating left and right. Correspondingly, the uncovering direction refers to the direction in which the pot cover is away from the pot body to gradually open the pot body, and the uncovering instruction corresponds to the uncovering direction; the cover closing direction can be a direction in which the cover is close to the pot body to gradually close the pot body, and the cover closing instruction corresponds to the cover closing direction. In addition, the motor can drive the pot cover to open and close, the rotating direction of the motor and the opening and closing direction of the pot cover have a corresponding relation, but the rotating direction of the motor and the opening and closing direction of the pot cover are not necessarily the same, and the rotating direction is determined according to the connecting structure of the motor and the pot cover. For example, in an alternative embodiment, when the motor rotates clockwise, the pot cover can be driven to move from bottom to top until the pot cover is opened; when the motor rotates anticlockwise, the pot cover can be driven to move from top to bottom until the pot cover is closed. In another optional embodiment, when the motor rotates clockwise, the pot cover can be driven to rotate clockwise to the outer side of the pot body until the pot cover is positioned on the outer side of the pot body; when the motor rotates anticlockwise, the pot cover can be driven to rotate anticlockwise to the outer side of the pot body.

When the pot cover is completely opened or closed, the motor drives the pot cover to move, and the pot cover and the pot body form an angle in the process, and the angle is the opening and closing angle of the pot cover. Based on the above, in the process that the motor drives the pot cover to move, the main control unit can determine the corresponding opening and closing angle of the pot cover in the first stage, then can judge whether the pot cover is opened or closed in place according to the change condition of the opening and closing angle, and can switch the motor from the first stage to the second stage under the condition that the opening and closing of the pot cover are determined in place, and the voltage duty ratios corresponding to the motor in the first stage and the second stage are different, so that different power output by the motor can be formed, the movement trend that the motor drives the pot cover is influenced, and the automatic and intelligent control of the opening and closing of the pot cover is realized.

It should be noted that the opening and closing angle of the pot cover can be determined by using an image acquisition device, that is, the opening and closing angle is determined by using an external image acquisition device, and an instruction is sent to the control unit based on the opening and closing angle, so as to form an operation of controlling the opening and closing of the pot cover according to the control instruction. Or the opening and closing angle of the pot cover can be determined through the gyroscope sensor, namely the movement data of the pot cover is collected through the gyroscope sensor, so that the opening and closing angle of the pot cover is analyzed according to the movement data. In practical application, the opening and closing angle may be determined according to a practical application scenario, and this embodiment is not limited herein.

Based on this, after the control unit acquires the opening and closing instruction of controlling the pot cover, the pot cover needs to be driven to open/close in response to the opening and closing instruction at this moment, and the opening/closing has two kinds of situations, so the opening and closing direction of the pot cover needs to be determined according to the instruction first, then the control motor drives the pot cover to move in the direction corresponding to the instruction, and in the moving process, the pot cover actually reaches the closing state from the opening state, or reaches the opening state from the closing state, so that the pot cover is convenient for a user to use.

In the process, the pot cover is driven by the motor, so that the motor is stopped after the opening or closing limit point is reached, the pot cover cannot be rotated, and the pot cover or the motor is prevented from being damaged. Therefore, in order to monitor that the motor successfully drives the pot cover to stop moving after reaching the limit point, the opening and closing angle corresponding to the pot cover in the first stage can be determined in the process that the motor drives the pot cover to move, and the motor drives the pot cover to open and close at the voltage duty ratio of hundred percent in the first stage; the opening and closing angle is relative to the opening and closing angle of the pot body, the opening and closing angle determined each time is compared with a preset opening and closing condition, and if the opening and closing condition is not met, the opening and closing of the pot cover is continuously driven by the motor after the opening and closing of the pot cover are not completed in the first stage. If the opening and closing conditions are met, the opening and closing angle of the pot cover in the first stage reaches the preset opening and closing angle, and further the completion of the full-power driving of the pot cover by the motor in the first stage is described; at this moment, if the pot cover is driven to move in a high-power mode, serious collision may be generated, so that the pot cover is damaged, the first stage can be switched to the second stage at this moment, the motor can be driven to move continuously with the voltage duty ratio corresponding to the second stage, and the motor is controlled to stop driving the pot cover to move until the opening and closing are finished.

The voltage duty ratio of the motor in the first stage is greater than that of the motor in the second stage, so that the motor can output different powers in different stages, and the pot cover is driven to move with different forces; and because the voltage duty cycle in the first stage is different from the voltage duty cycle in the second stage, therefore the pot cover can open and close with different mild degree in different stages to form that the pot cover can open and close fast in the first stage, and open and close slowly in the second stage. Correspondingly, the opening and closing condition specifically refers to a condition associated with an opening and closing angle, for example, the opening and closing condition is an angle threshold; in practical application, in the opening and closing process of the pot cover, the operation angle of the pot cover relative to the pot body is limited, for example, the maximum opening angle of the pot cover relative to the pot body is 80 degrees, an angle threshold value can be set to be an angle value smaller than or equal to 80 degrees, when the opening angle of the pot cover is larger than the threshold value at a certain moment, the pot cover is opened to the maximum angle corresponding to the first stage, the second stage can be switched to, the opening and closing of the pot cover are continued by the motor with the voltage duty ratio corresponding to the second stage, and the motor is stopped to drive the pot cover to move until the opening and closing are finished. Under the closed state, the minimum closed angle of the pot cover relative to the pot body is 0 degree, the angle threshold value can be set to be an angle value larger than or equal to 0 degree, when the closed angle of the pot cover at a certain moment is smaller than or equal to the angle threshold value, the pot cover is closed to the maximum angle value corresponding to the first stage, the second stage can be switched to at the moment, the pot cover is continuously opened and closed by the motor with the voltage duty ratio corresponding to the second stage, and the motor is stopped to drive the pot cover to move until the opening and closing are finished.

To sum up, realize when opening and shutting based on instruction control pot cover, can confirm the degree of opening and shutting through the mode that detects the angle to can open and shut the switching that the condition carried out motor drive mode according to the angle, thereby realize driving the pot cover motion with different power in different stages, reduce the loss that the collision produced, do not need the user additionally to carry out other operations moreover, can convenience of customers use more, thereby improve user experience and feel.

Further, when confirming the angle that opens and shuts of pot cover in first stage, consider that the pot cover is articulated through the axis of rotation with the pot body, in order to can the accurate measurement angle that opens and shuts, can connect rotatory potentiometre in the axis of rotation, gather the voltage signal that rotatory potentiometre corresponds and survey the angle that opens and shuts, that is to say, the angle that opens and shuts of pot cover and the voltage signal of rotatory potentiometre are linear relation, if confirm correlation factor, can establish the two relation, thereby realize the accurate collection to the angle that opens and shuts, in this embodiment, concrete implementation is as follows:

acquiring voltage signals at two ends of a rotary potentiometer connected with a rotating shaft of the pot cover in the first stage; and determining the opening and closing angle of the pot cover in the first stage according to voltage signals at two ends of the rotary potentiometer.

Specifically, the pot cover is hinged with the pot body through the rotating shaft, and the included angle formed by the pot body and the pot cover is the opening and closing angle at the current moment, so that the rotating potentiometer can be connected with the rotating shaft, and when the pot cover rotates, the rotating shaft rotates. And then the sliding sheet of the rotary potentiometer is driven to change the resistance value of the rotary potentiometer, the resistance value of the rotary potentiometer is changed, the voltage of the two sections of the rotary potentiometer is also changed, and the voltage and the opening and closing angle are in a linear relation, so that the opening and closing angle of the pot cover can be indirectly determined through the rotary potentiometer.

Further, determining the opening and closing angle of the pot cover in the first stage according to the voltage signals at the two ends of the rotary potentiometer includes: and determining the opening and closing angle of the pot cover in the first stage according to the voltage signals at the two ends of the rotary potentiometer, a preset first opening angle and a corresponding voltage signal, and a preset second opening angle and a corresponding voltage signal.

On the basis of the opening and closing angle, the preset opening and closing condition is required to be set as an angle threshold, namely, under the condition that the opening and closing angle is larger than the set opening and closing angle threshold, the first stage is switched to the second stage, and the opening and closing of the pot cover are realized by duty ratio voltage corresponding to the second stage.

That is to say, the opening and closing angle of the pot cover at the current moment is acquired, and after the motor drives the pot cover to move to the preset opening and closing angle threshold value corresponding to the first stage according to the voltage duty ratio corresponding to the first stage, namely the opening and closing angle of the pot cover at the current moment is the same as the preset opening and closing angle threshold value, the voltage duty ratio corresponding to the second stage and the preset rotation time are determined; and controlling the motor to drive the pot cover to move according to the voltage duty ratio corresponding to the second stage, and stopping driving the pot cover to move after the preset rotation time is reached.

Specifically, the voltage signal corresponding to the first uncapping angle and the voltage information corresponding to the second uncapping angle can be determined through tests in an actual application scenario. For example, the rotation angle of the pot cover is between 0 and 90 degrees, the minimum value is 0, namely the pot cover and the pot body are closed; the maximum value is 90, namely the pot cover is vertical to the pot body and is in an open state. The first uncapping angle and the second uncapping angle can be determined by randomly selecting two angles between 0 and 90, measuring the voltage corresponding to the rotary potentiometer at the current angle, taking the voltage corresponding to the first uncapping angle as a voltage signal corresponding to the first uncapping angle, and correspondingly taking the voltage corresponding to the second uncapping angle as a voltage signal corresponding to the second uncapping angle so as to conveniently determine the linear relation between the voltage and the opening and closing angle. Therefore, the movement state of the pot cover driven by the motor can be determined to be related to the opening and closing angle of the pot cover.

For example, the process of determining the opening and closing angle is described by taking the first opening and closing angle as 0 degree and the second opening and closing angle as an example, at this time, the pot cover may be completely closed, the opening and closing angle is determined as 0 degree, voltage signals at two ends of the rotary potentiometer are measured in the current state, and the obtained voltage signals are used as voltage signals corresponding to the first opening and closing angle. Similarly, the pot cover is completely opened, the cover opening angle is determined to be 90 degrees, voltage signals at two ends of the rotary potentiometer are measured in the current state, and the obtained voltage signals are used as voltage signals corresponding to the second cover opening angle. And finally, establishing a linear relation between the opening and closing angle and the voltage by utilizing the preset first opening angle and the corresponding voltage signal as well as the preset second opening angle and the corresponding voltage signal, determining a coefficient between the first opening angle and the voltage signal according to the linear relation, and realizing that the opening and closing angle can be measured by combining the coefficient and the voltage at any angle in an application stage.

In particular, a voltage signal of 3.3V can be provided to the rotary potentiometer. When the resistance value of the rotary potentiometer is maximum, the voltage signals at the two ends of the rotary potentiometer are 3.3V, and when the resistance value of the rotary potentiometer is minimum, the voltage signals at the two ends of the rotary potentiometer are 0. Therefore, the voltage signal across the rotary potentiometer varies between 0-3.3V with resistance. Of course, other values of voltage signals may be provided to the rotary potentiometer, and the embodiment of the present invention is not limited thereto.

Based on this, when the opening and closing angle is maximum (90 degrees), the resistance value of the rotary potentiometer is maximum, the corresponding voltage is 3.3v, when the opening and closing angle is minimum (0 degrees), the resistance value of the rotary positioner is minimum, the corresponding voltage is 0v, that is, 1v corresponds to 27.2727 degrees ((90-0)/(3.3-0)) -27.2727; and further deducing 0.0366v voltage corresponding to the opening and closing angle of 1 degree.

Further, in the application stage, if the motor drives the pot cover to rotate, the voltage signals at the two ends of the rotary potentiometer are determined at each moment, then the voltage signals measured at each moment are multiplied by 27.2727, so that the opening and closing angle corresponding to the pot cover at the current moment can be determined, and whether the stage switching is needed or not can be determined by comparing the opening and closing angle with the angle threshold value,

in conclusion, the linear relation between the voltage and the opening and closing angle is established, the opening and closing angle of the pot cover can be accurately measured at any voltage, so that the current opening and closing angle of the pot cover can be accurately positioned, the motor can be timely controlled, and the damage to the motor or the pot cover is avoided.

In the above test process, the voltage signals at two ends of the rotary potentiometer under different states may be sampled by an Analog to digital Converter (ADC).

After obtaining the first lid opening angle, the voltage signal corresponding to the first lid opening angle, the second lid opening angle, the voltage signal corresponding to the second lid opening angle, and the current voltage signal at the two ends of the rotary potentiometer, the rotation angle of the pot cover can be calculated by the following formula (1):

φ＝{θ/(V2-V1)}*v(1)

phi represents the opening and closing angle of the cooker cover, theta represents the difference value between the second opening and closing angle and the first opening and closing angle, V2 represents a voltage signal corresponding to the second opening and closing angle, V1 represents a voltage signal corresponding to the first opening and closing angle, and V represents a voltage signal measured at the current moment and at two ends of the rotary potentiometer.

In specific implementation, when the opening and closing angle of the pot cover is measured, the motor needs to be controlled in an angle dimension, that is, the preset opening and closing condition is related to the movement state of the pot cover driven by the motor and the opening and closing angle of the pot cover.

In practical application, when the opening and closing angle is determined, the implementation scheme can be executed according to a preset period, namely, voltage signals corresponding to all times can be collected according to a preset time period, so that the opening and closing angle is measured by combining the formula (1), the state of the pot cover is conveniently analyzed according to the opening and closing angle, and the pot cover is moved by the driving motor.

Based on this, can be in the automatic in-process that opens of pot cover, detect the angle that opens and shuts of pot cover according to the preset cycle. When the opening and closing angle of the pot cover is detected to reach a preset angle threshold, it is indicated that the pot cover reaches the maximum opening and closing angle corresponding to the first stage, if the pot cover is continuously driven to move by the voltage duty ratio corresponding to the motor in the first stage, collision loss may be generated due to overlarge movement trend, and in order to avoid collision, after the opening and closing angle of the pot cover meets the preset opening and closing angle threshold, the first stage is switched to the second stage, and the motor is driven to move according to the voltage duty ratio corresponding to the motor in the second stage, so that the pot cover can move to a stop position, and then the motor is stopped to drive the pot cover to move. So that the pot cover stays at a preset angle to prevent the motor from over-running. Or, when the opening and closing angle of the pot cover is kept unchanged in a preset number of periods continuously detected, which indicates that the pot cover is blocked by an obstacle to continue rotating, the pot cover can be immediately controlled to stop rotating.

In addition, it should be noted that for some special dishes, the making process may be different from that of the common dishes, for example, some special dishes require the lid to be opened at a certain angle in order to improve the taste experience during the cooking process. By adopting the method provided by the embodiment of the invention, the requirement on the special making process of special dishes can be met.

Further, after the motor is determined to drive the pot cover to move to the preset opening and closing angle threshold value corresponding to the first stage according to the voltage duty ratio corresponding to the first stage, namely the opening and closing angle of the pot cover at the current moment is the same as the preset opening and closing angle threshold value, the voltage duty ratio corresponding to the second stage and the preset rotation time can be determined again; and controlling the motor to drive the pot cover to move according to the voltage duty ratio corresponding to the second stage, and stopping driving the pot cover to move after the preset rotation time is reached.

The preset rotation time specifically refers to the operation time of the second-stage motor, the time is used for driving the motor to drive the pot cover to reach the maximum opening and closing angle, and after the operation time is finished, the motor is stopped from driving the pot cover. In practical application, the voltage duty cycle and the preset rotation time corresponding to the second stage may be set according to a practical application scenario, and this embodiment is not limited herein. It should be noted that the voltage duty ratio corresponding to the second stage also needs to be considered to enable the motor to drive the pot cover to move.

For example, the maximum opening angle is 80 degrees, when the opening angle threshold is set, the opening angle threshold can be determined to be 72 degrees according to the fact that the preset opening angle ratio is 90% multiplied by 80, and 8 degrees are reserved to buffer the pot cover in the opening process; meanwhile, the cover closing angle threshold value is determined to be 8 degrees according to the fact that the preset cover closing angle ratio is 10% multiplied by 80, and 8 degrees are reserved to slow down collision between the pot cover and the pot body in the cover closing process. That is to say, in the first stage, the pot cover will open and close within 72 degrees or outside 8 degrees, and after being greater than 72 degrees or less than 8 degrees, switch to the second stage, and then drive the pot cover to move through lower voltage duty ratio, after running for the set time, stop driving the pot cover to move.

Further, after the motor drives the pot cover to rotate to 72 degrees and stop, the pot cover and the pot body form a 72-degree angle at the moment, the maximum opening angle is 80 degrees, the pot cover can be further driven to move for a period of time, the maximum opening angle is reached, collision damage is avoided, the second stage can be switched to, the voltage of the second stage is set by selecting the voltage duty ratio of the motor standard voltage of 30%, the rotation duration is set to be 0.5s, namely, in the second stage, the motor operates with the motor standard voltage of 30%, the pot cover is driven to be continuously opened, the second stage stops after the motor operates for 0.5s, the opening and closing angle approaches to 80 degrees or equals to 80 degrees, the maximum opening angle is reached, and the operation is stopped.

Or, after the motor drives the pot body to rotate to 8 degrees and stop, the pot cover and the pot body form an angle of 8 degrees at the moment, and the maximum closed angle is 0 degree, so that the pot cover can be driven to move for a period of time to reach the maximum closed angle, and in order to avoid causing collision damage, the voltage duty ratio of 20% of the standard voltage of the motor can be selected to set the voltage of the second stage, and meanwhile, the rotation duration is set to be 0.5s, namely, in the second stage, the motor operates with the standard voltage of the motor 20 and drives the pot cover to be continuously closed, and the pot cover stops after operating for 0.5s, and at the moment, the opening and closing angle approaches to 0 degree or equals to 0 degree, reaches the maximum closed angle, and stops.

To sum up, through continue to drive the pot cover motion with less electric current in the buffer interval, can be so that the angle of opening and shutting reaches the maximum value, realize not having virtual position, convenience of customers uses more, can also avoid the errand collision, produces the damage to the pot body or pot cover.

Furthermore, in the cooking process, the pot cover and the pot body are in two states, namely an opening state or a closing state, so that under different requirements, the instruction for controlling the opening and the closing of the pot cover comprises a cover closing instruction or a cover opening instruction; the cover closing instruction corresponds to a cover closing angle threshold, cover closing rotation time, a cover closing voltage duty ratio corresponding to a first stage and a cover closing voltage duty ratio corresponding to a second stage; the uncapping instruction corresponds to an uncapping angle threshold, uncapping rotation time, an uncapping voltage duty ratio corresponding to a first stage and an uncapping voltage duty ratio corresponding to a second stage; the cover closing angle threshold value is different from the cover opening angle threshold value, and the cover closing voltage duty ratio corresponding to the second stage is different from the cover opening voltage duty ratio corresponding to the second stage.

That is to say, in order to control the motor to drive the pot cover to move in time in different states and move in different movement trends in different stages, different threshold values are set for the opening state and the closing state.

Namely, under the condition that the command is a cover closing command, the cover closing voltage duty ratio in the first stage is used for driving the cover to move, the opening and closing angle of the pot body is collected in real time, the opening and closing angle at each moment is compared with the cover closing angle threshold value, when the opening and closing angle at a certain moment is smaller than or equal to the cover closing angle threshold value, the first stage is switched to the second stage, the cover closing voltage duty ratio corresponding to the second stage is used for continuously driving the cover to move, and the cover is stopped to be driven to move after the time reaches the cover closing rotation time, so that the situation that the motor drives the cover to excessively extrude the pot body is avoided.

Under the condition that the instruction is the uncapping instruction, the uncapping voltage duty ratio in the first stage drives the pot cover to move, the opening and closing angle of the pot body is collected in real time, the opening and closing angle at each moment is compared with the uncapping angle threshold value, when the opening and closing angle at a certain moment is smaller than or equal to the uncapping angle threshold value, the first stage is switched to the second stage, the uncapping voltage duty ratio corresponding to the second stage continues to drive the pot cover to move, and the pot cover stops being driven to move after the time reaches the uncapping rotation time, so that the phenomenon that the motor drives the pot cover to open the pot cover at an excessively large angle is avoided.

In addition, in consideration of the practical application scenario, the motor operates based on full current, and if the pot cover is directly opened to the maximum angle based on the motor, or is closed to the maximum angle, damage may be caused to components, so that the maximum opening angle may be used as a set value, an opening angle threshold and a closing angle threshold are determined according to a set proportion, that is, the maximum opening angle corresponding to the pot cover is determined, the closing angle threshold is calculated according to a preset closing angle ratio and the maximum opening angle, and the opening angle threshold is calculated according to the preset closing angle ratio and the maximum opening angle.

The maximum opening and closing angle range can be determined by the maximum opening and closing angle range corresponding to the pot cover, and then any opening and closing angle is selected from the maximum opening and closing angle range to serve as the maximum opening and closing angle corresponding to the pot cover.

The maximum opening angle specifically refers to the maximum opening angle of the pot cover relative to the pot body; correspondingly, the preset closing angle ratio specifically refers to a ratio of the closing angle to the maximum opening angle, and may be set to a numerical value of 5% or 10%, and the like, and this embodiment is not limited herein; correspondingly, the preset uncovering angle ratio specifically refers to a ratio of the uncovering angle to the maximum uncovering angle, and can be set to be a numerical value of 95% or 80%, and the like, and the embodiment is not limited at all.

For example, the maximum uncapping angle interval is 70-80 degrees, when an uncapping angle threshold value is set, any uncapping angle can be selected as the maximum uncapping angle, if 80 degrees is selected as the maximum uncapping angle, the uncapping angle threshold value can be determined to be 72 degrees according to the fact that the ratio of the preset uncapping angle to 90% is multiplied by 80, and 8 degrees are reserved for buffering the pot cover in the uncapping process; meanwhile, the cover closing angle threshold value can be determined to be 8 degrees by multiplying the preset cover closing angle ratio by 80 to reduce the collision between the pot cover and the pot body in the cover closing process by reserving 8 degrees.

That is to say, when the motor drives the pot cover to be opened or closed, the voltage signal of the rotary potentiometer is acquired through the implementation of the scheme, the opening and closing angle at each moment is calculated by combining the formula (1), then the opening and closing angle is compared with the cover opening angle threshold value of 72 degrees, when the opening and closing angle at a certain moment is greater than 72 degrees, the first stage is switched to the second stage, the pot cover is driven to move continuously by the voltage duty ratio corresponding to the motor in the second stage, and the motor is stopped from driving the pot cover to move after the pot cover is operated for a set time; or comparing the opening and closing angle with the closing angle threshold value of 8 degrees, when the opening and closing angle at a certain moment is less than or equal to 8 degrees, switching from the first stage to the second stage, driving the pot cover to continue moving by the voltage duty ratio corresponding to the motor in the second stage, and stopping the motor to drive the pot cover to move after running for a set time.

To sum up, through confirming the angle threshold with uncapping angle ratio and closing the lid angle ratio, can realize reserving certain angle and cushion the pot cover to avoid causing excessive collision, produce the damage to the pot cover or the pot body, reduce the sending of collision sound simultaneously.

In practical application, when the motor is controlled to drive the pot cover to move, the motor is controlled to stop driving the pot cover to move according to the current value, considering that the motor can generate different torques, the different torques can cause the motor to output different powers, and the current is in direct proportion to the power. Collecting the working current value of the motor; and under the condition that the working current value meets the set current switching condition, controlling the motor to reduce the voltage duty ratio to drive the pot cover to move.

That is to say, in the process that the motor drives the pot cover to open or close, the torque of the motor is related to the opening or closing state of the pot cover, and when the pot cover is completely opened or closed, the torque of the motor is increased, and the working current value of the motor is increased. Based on the above, in the process that the motor drives the pot cover to move, the main control unit can acquire the working current value of the motor; based on the change condition of the collected working current value, whether the pot cover is opened or closed in place can be judged, and the motor is controlled to reduce the voltage duty ratio to drive the pot cover to operate under the condition that the pot cover is opened or closed in place, so that the pot cover is positioned at the opening and closing position. In this embodiment, the embodiment of collecting the operating current value of the motor is not limited. For example, the working current value of the motor can be collected irregularly; the working current value of the motor can be periodically acquired. Further alternatively, the collected operating current values may be filtered, for example, 10 current values are collected and arranged in a descending order, and after 6 operating current values located at the middle position are averaged, the operating current value of the motor is obtained. Because the working current value of the motor fluctuates, the fluctuation can possibly cause misjudgment of the in-place state of the pot cover switch, and the filtering of the working current value can reduce the probability of the misjudgment and improve the accuracy of judging whether the pot cover is in place or not. Therefore, the movement state of the motor driving the pot cover is related to the duration time of the working current of the motor on the time axis.

It should be noted that, reducing the voltage duty ratio is to switch from the first stage to the second stage, so as to reduce the voltage duty ratio corresponding to the first stage to the voltage duty ratio corresponding to the second stage.

In specific implementation, the kitchen robot main control unit may directly detect the working current of the motor, for example, one detection pin of the main control unit may be electrically connected to the working current output terminal of the motor, but is not limited thereto. In another optional embodiment, a voltage detection circuit is arranged between the motor and the main control unit, the voltage detection circuit can convert the working current value of the motor into the working voltage value of the motor and output the working voltage value to the main control unit, and the main control unit of the kitchen robot can acquire the working voltage value of the motor detected by the voltage detection circuit; and acquiring the working current value of the motor according to the working voltage value of the motor and the sampling resistance value in the voltage detection circuit.

Based on the method, after the working current value of the motor is obtained, whether the working current value of the motor meets the preset current switching condition or not can be judged; if the situation is not met, the situation shows that the pot cover is not opened and closed in place, the motor is continuously controlled to drive the pot cover to move; if the voltage is satisfied, the switch of the pot cover is in place, and the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move. The method can automatically identify whether the pot cover is opened or closed in place according to the working current of the motor without depending on a physical structure of a light touch switch, can overcome the problem that the pot cover and the motor gear box are damaged due to the fact that the pot cover is excessively opened or closed due to the fact that the light touch switch is triggered for too long time, and improves the usability of the pot cover and the motor gear box.

In this embodiment, the set current opening and closing condition is not limited, the opening and closing of the pot cover is divided into opening and closing the pot cover, and accordingly, the implementation manner of determining whether the operating current value of the motor satisfies the set opening and closing condition may be different according to the opening and closing condition. The following examples illustrate:

in an optional embodiment, the action of opening the pot cover can be set, the current value of the motor at the rated power which should be met is set, and the first current threshold is greater than the current value at the rated power; based on this, can judge whether the working current value of the motor of gathering is greater than first current threshold to when the working current value of motor is greater than the first current threshold of settlement, can think that the motor meets the resistance that the pot cover opened, motor moment of torsion increase leads to the working current value to satisfy the condition of uncapping of settlement, can think that the pot cover uncaps and targets in place, direct control motor reduces voltage duty ratio and drives the pot cover motion. If the collected working current value is not larger than the first current threshold value, the motor drives the pot cover to continue moving.

In another alternative embodiment, considering that a certain time is required from the starting to the stabilization of the motor, the cover may be opened to the right position within the time required from the starting to the steady state of the motor, and the cover may be opened to the right position after the motor enters the steady state, therefore, a first operation time can be set to represent the time required from the starting to the stabilization of the motor, and the first operation time can be different due to the difference of the type, the model, the brand and the like of the motor. Whether the pot cover is opened in place or not can be divided into two conditions through the first operation time, wherein the first condition is that the pot cover is opened in place within the first operation time (namely before the motor enters a stable state or after the motor enters the stable state); the second case is that the lid is opened to the position outside the first operation time (i.e., after the motor enters the steady state). Further, for the first situation, considering that a large current (i.e., a glitch current) is generated in a short time when the motor is started to be stable, in order to avoid misjudgment caused by the current and cause the pot cover to be controlled to reduce the voltage duty ratio movement in advance, a first time length threshold is further set, the maximum time length for which the glitch current generated when the motor is started can last is taken as a reference to set the first time length threshold, and theoretically, the first time length threshold is not less than the maximum time length of the glitch current. Based on the above, a lid opening condition of the lid is that, when the operation time of the motor is less than the set first operation time, the duration that the operating current value of the lid is continuously greater than the first current threshold is required to be greater than the first duration threshold. Wherein the first time threshold is less than the first running time. The first time-length valve value is used for filtering the burr current when the motor is started, and misjudgment caused by the burr current is prevented.

Based on the above, when determining whether the working current value of the motor meets the set uncapping condition, it may be determined whether the working current value of the motor is greater than the set first current threshold and the duration is greater than the first time threshold in a first operation time from the start of the motor to a time less than the set time. If so, the working current value is not the burr current value generated in the starting process of the motor, but the current value of the motor generated due to overlarge motor torque after the pot cover is opened to the maximum extent. Therefore, under the condition that the running time of the motor is less than the set first running time, if the duration that the working current value is continuously greater than the first current threshold is greater than the first time threshold, the working current value of the motor can be considered to meet the set uncovering condition, and the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move. If not, the motor is controlled to continue to move. In the first operation time of the motor operation, the working current is smaller than the first current threshold value, which may be the normal working current of the motor, and the cover of the cooker cover is not opened in place, so that the motor can continue to operate; the duration that the working current is greater than the first current threshold is less than the first duration threshold, and may be a glitch current when the motor is started. Under these conditions, the motor can continuously drive the pot cover to move.

In an optional embodiment, it is considered that once hardware of the kitchen robot fails, for example, a voltage detection circuit fails, a main control unit of the kitchen robot cannot determine whether a working current value of a motor meets a set uncovering condition, and cannot know at which moment, a voltage duty ratio is reduced to control the motor to drive the pot cover to move. Based on this, a second operation time length can be set, wherein the second operation time length is more than or equal to the maximum time length required by uncovering the pot cover. If the running time of the motor is greater than the set second running time, the working current value of the motor can be considered to meet the set uncovering condition, and the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move. For example, if the maximum time required for opening the lid of the pot lid is 3s, the second operation time period may be set to 4s, and the lid opening condition is set as follows: and if the running time of the motor is greater than the set second running time, namely the running time of the motor is greater than 4s, controlling the motor to reduce the voltage duty ratio to drive the pot cover to move.

Further optionally, after the first operation duration, the motor substantially reaches a steady operation stage, and in the operation process of the motor, fluctuation of a current value is small, and a burr current value cannot be generated, a second duration threshold value can be set, wherein the second duration threshold value refers to a time during which a working current value of the motor is greater than a set first current threshold value, and the duration threshold value is used for the main control unit to find that the working current value of the motor is greater than the set first current threshold value, but the damage of the pot cover or the motor gear box is avoided. Based on the second time length threshold value, the set cover opening condition of the pot cover further comprises: and in the case that the running time of the motor is greater than the set first running time and less than the set second running time, requiring the duration that the working current value of the motor is continuously greater than the first current threshold value to be greater than the second duration threshold value. Based on this, judge whether the operating current value of motor satisfies the condition of uncapping of settlement, still include: and under the condition that the running time of the motor is greater than the set first running time and less than the set second running time, if the duration that the working current value of the motor is continuously greater than the first current threshold is greater than the second duration threshold, the working current value of the motor can be considered to meet the set uncovering condition, and the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move.

In an optional embodiment, the action of closing the pot cover can be set, the current value of the motor at the rated power which should be met is set, and the second current threshold is greater than the current value at the rated power; based on this, whether the collected working current value of the motor is larger than the second current threshold value or not can be judged, and when the working current value of the motor is larger than the set second current threshold value, the motor can be considered to meet the resistance of closing the cover by the pot cover, the torque of the motor is increased, the working current value meets the set cover closing condition, the pot cover can be considered to be closed in place, and the motor is directly controlled to reduce the voltage duty ratio to drive the pot cover to move. If the collected working current value is not larger than the second current threshold value, the motor drives the pot cover to continue moving.

In another alternative embodiment, considering that a certain time is required from starting to stabilizing the motor, and the lid may be closed in place already within the time required from starting to entering the stable state of the motor, or may be closed in place after the motor enters the stable state, a first operation time may be set to indicate the time required from starting to stabilizing the motor, and the first operation time may be different due to different types, models, brands and the like of the motor. Whether the pot cover is closed in place or not can be divided into two conditions through the first running time, wherein the first condition is that the pot cover is closed in place within the first running time (namely before the motor enters a stable state or after the motor enters the stable state); the second situation is when the lid is closed in place beyond the first run time (i.e. after the motor has entered a steady state). Further, for the first situation, considering that a large current (i.e., a glitch current) is generated in a short time when the motor is started to be stable, in order to avoid misjudgment caused by the current and cause the pot cover to be controlled to reduce the voltage duty ratio movement in advance, a first time length threshold is further set, the maximum time length for which the glitch current generated when the motor is started can last is taken as a reference to set the first time length threshold, and theoretically, the first time length threshold is not less than the maximum time length of the glitch current. Based on the above, one lid closing condition is that in the case that the operating time of the motor is less than the set first operating time, the duration that the operating current value of the motor is continuously greater than the second current threshold value is required to be greater than the first duration threshold value. Wherein the first time threshold is less than the first running time. The first time-length valve value is used for filtering the burr current when the motor is started, and misjudgment caused by the burr current is prevented.

Based on the above, when it is determined whether the operating current value of the motor meets the set cover closing condition, it may be determined that the operating current value of the motor is smaller than the set first operating time from the start of the motor, and it is further determined whether the operating current value of the motor is greater than the set second current threshold, and the duration is greater than the first duration threshold. If yes, the working current value is not a burr current value generated in the starting process of the motor, but a current value of the motor generated due to overlarge motor torque after the pot cover is closed to the maximum degree. Therefore, under the condition that the running time of the motor is less than the set first running time, if the duration that the working current value is continuously greater than the second current threshold is greater than the first duration threshold, the working current value of the motor can be considered to meet the set cover closing condition, and the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move. If not, the motor is controlled to continue to move. In the first operation time of the motor operation, the working current is smaller than the second current threshold value, which may be the normal working current of the motor, and the motor can continue to operate when the pot cover is not closed in place; the duration that the working current is larger than the second current threshold is smaller than the first duration threshold, and may be a glitch current when the motor is started. Under these conditions, the motor can continuously drive the pot cover to move.

In an optional embodiment, it is considered that, if hardware of the kitchen robot fails, for example, the voltage detection circuit fails, the main control unit of the kitchen robot cannot determine whether the working current value of the motor meets the set lid closing condition, and cannot know at which time the voltage duty ratio is reduced to control the motor to drive the lid to move. Based on this, a second operation time length can be set, wherein the second operation time length is more than or equal to the maximum time length required by closing the cover of the pot cover. If the running time of the motor is greater than the set second running time, the working current value of the motor can be considered to meet the set cover closing condition, and the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move. For example, if the maximum time required for closing the lid is 3s, the second operation time period may be set to 4s, and the lid closing condition is set as follows: and if the running time of the motor is greater than the set second running time, namely the running time of the motor is greater than 4s, controlling the motor to reduce the voltage duty ratio to drive the pot cover to move.

Further optionally, after the first operation duration, the motor substantially reaches a steady operation stage, and in the operation process of the motor, fluctuation of a current value is small, and a burr current value cannot be generated, a second duration threshold value can be set, wherein the second duration threshold value refers to a time during which a working current value of the motor is greater than the set second current threshold value, and the duration threshold value is used for the main control unit to find that the working current value of the motor is greater than the set second current threshold value, but the damage of the pot cover or the motor gear box is avoided. Based on the second duration threshold, the set lid closing condition further includes: and in the case that the running time of the motor is greater than the set first running time and less than the set second running time, requiring the duration that the working current value of the motor is continuously greater than the second current threshold value to be greater than the second duration threshold value. Based on this, judge whether the operating current value of motor satisfies the closed condition of setting, still include: and under the condition that the running time of the motor is greater than the set first running time and less than the set second running time, if the duration that the working current value of the motor is continuously greater than the second current threshold is greater than the second duration threshold, the working current value of the motor can be considered to meet the set cover closing condition, and the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move.

In an alternative embodiment, assume that the first operating time period is 2.5s, the second operating time period is 5s, the first time threshold is 100 milliseconds (ms), the second time threshold is 10ms, the first current threshold is 900 Milliamps (MA), and the second current threshold is 300 Milliamps (MA). The control logic corresponding to the opening and closing of the cover is as follows:

in the cover opening process, in the period that the motor starts to operate for 2.5s, if the working current value of the motor is greater than the set first current threshold value 900MA and the duration is greater than 100ms, which indicates that the cover is opened in place, the motor is controlled to reduce the voltage duty ratio to drive the cover to move. If the working current of the motor is less than or equal to the first current threshold value 900MA, the movement state of the motor for opening the pot cover normally is possible, no matter how long the working current lasts, the motor is controlled to drive the pot cover to continue moving. If the working current of the motor is larger than the set first current threshold 900MA and the duration is less than 100ms, the current is probably the burr current when the motor starts to start, and the motor is controlled to drive the pot cover to continue moving.

And if the operating current value of the motor is greater than the first current threshold value 900MA and the duration time is greater than the second duration threshold value for 10 milliseconds, indicating that the cover is opened in place, and controlling the motor to reduce the voltage duty ratio to drive the cover to move. If the working current of the motor is less than or equal to the first current threshold value 900MA, the movement state of the motor for opening the pot cover normally is possible, no matter how long the working current lasts, the motor is controlled to drive the pot cover to continue moving.

In the cover opening process, when the operation time of the motor is greater than the second operation time for 5 seconds, in order to protect the motor and the pot cover and prevent faults, the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move.

In the process of closing the cover of the cooker cover, within 2.5s after the motor starts to operate, if the working current value of the motor is greater than a set second current threshold value 300MA and the duration is greater than 100ms, indicating that the cooker cover is closed in place, controlling the motor to reduce the voltage duty ratio to drive the cooker cover to move. If the working current of the motor is less than or equal to the first current threshold 900MA, the movement state of the motor for normally closing the pot cover is possible, no matter how long the working current lasts, the motor is controlled to drive the pot cover to continue to move. If the working current of the motor is larger than the set second current threshold value 300MA and the duration is less than 100ms, the current may be a burr current when the motor starts to start, and the motor is controlled to drive the pot cover to continue moving.

And if the working current value of the motor is greater than a second current threshold value 300MA and the duration time is greater than a second time threshold value for 10 milliseconds, indicating that the pot cover is closed in place, and controlling the motor to reduce the voltage duty ratio to drive the pot cover to move. If the working current of the motor is less than or equal to the second current threshold value 300MA, the movement state of the motor for normally closing the pot cover is possible, no matter how long the working current lasts, the motor is controlled to drive the pot cover to continue to move.

In the process of closing the cover of the pot cover, when the running time of the motor is greater than the second running time for 5 seconds, in order to protect the motor and the pot cover and prevent faults, the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move.

It should be noted that, because the pot cover is influenced by gravity, when the pot cover is opened or closed, the current of the motor may be different, and based on this, the second current threshold corresponding to the cover closing instruction and the first current threshold corresponding to the cover opening instruction may be different. In consideration of the fact that it takes a lot of effort to open the lid relative to closing the lid, the first current threshold corresponding to the open-lid command may be set to be greater than the second current threshold corresponding to the close-lid command. Meanwhile, in other embodiments, the first operation time corresponding to the lid closing instruction and the first operation time corresponding to the lid opening instruction may also be different; the second running time corresponding to the cover closing instruction and the second running time corresponding to the cover opening instruction can be different; the first time length threshold value corresponding to the cover closing instruction and the first time length threshold value corresponding to the cover opening instruction can be different; the second duration threshold corresponding to the lid closing instruction and the second duration threshold corresponding to the lid opening instruction may also be different. And are not intended to be limiting herein.

In the embodiment, the method for controlling the opening and closing of the pot cover according to the working current signal generated in the process that the pot cover is driven by the motor to move is introduced in detail, whether the pot cover is opened or closed in place is automatically identified through the action current of the motor, the physical structure of the light touch switch is not relied on, the problem that the pot cover and a motor gear box are damaged due to the fact that the pot cover is excessively opened or closed due to the fact that the light touch switch is triggered for too long time can be solved, the usability of the pot cover and the motor gear box is improved, and the experience of a user is improved. In addition, the embodiment of the application also provides a method for controlling the opening and closing of the pot cover according to the induction signal generated by the motor in the process of driving the pot cover to move.

In practical application, in order to improve the accuracy of controlling the motor to drive the pot cover to move, the current value and the opening and closing angle can be combined to be simultaneously realized, namely, under the condition that the working current value meets the preset current opening and closing condition and the opening and closing angle meets the preset opening and closing condition, the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move. It should be noted that, the two methods do not have a sequential execution relationship, and may be executed simultaneously or sequentially, and this embodiment is not limited herein. The specific implementation schemes can refer to the related descriptions in the above embodiments, and are not described herein again.

Fig. 2 is a schematic flowchart of another control method for opening and closing a cover according to an exemplary embodiment of the present application, where as shown in fig. 2, the method includes:

step S202, acquiring a command for controlling the opening and closing of the pot cover, and controlling a motor to drive the pot cover to move in the opening and closing direction corresponding to the command;

step S204, determining the opening and closing angle of the pot cover in the process of driving the pot cover to move by the motor;

and S206, controlling the motor to reduce the voltage duty ratio to drive the pot cover to move under the condition that the opening and closing angle meets the preset opening and closing condition.

For a description of another method for controlling the opening and closing cover provided in this embodiment, reference may be made to a method for controlling the opening and closing cover in the foregoing embodiment, which is not described herein in detail. Wherein, the reduction of the voltage duty cycle is to switch from the first phase to the second phase.

In the process, the pot cover is driven by the motor, so that the motor is stopped after the opening or closing limit point is reached, the pot cover cannot be rotated, and the pot cover or the motor is prevented from being damaged. Therefore, in order to monitor that the motor successfully drives the pot cover to stop moving after reaching a limit point, the opening and closing angle of the pot cover can be constantly determined in the process that the motor drives the pot cover to move, the opening and closing angle is the opening and closing angle relative to the pot body, the opening and closing angle determined each time is compared with the preset opening and closing condition, and if the opening and closing condition is not met, the pot cover is not opened and closed completely, and the motor continues to drive the pot cover to open and close. If the opening and closing conditions are met, the fact that the opening and closing of the pot cover are finished at the current moment is indicated, then the motor can be controlled to stop driving the pot cover to move, damage to the motor or the pot cover is avoided, and meanwhile the pot cover is convenient for a user to use.

The opening and closing condition specifically refers to a condition associated with an opening and closing angle, for example, the opening and closing condition is an angle threshold; in practical application, in the opening and closing process of the pot cover, the operation angle of the pot cover relative to the pot body is limited, for example, the maximum opening angle of the pot cover relative to the pot body is 80 degrees, the angle threshold value can be set to be an angle value smaller than or equal to 80 degrees, when the opening angle of the pot cover is larger than the threshold value at a certain moment, the pot cover is completely opened, and at the moment, the motor is stopped to drive the pot cover to move. Under the closed state, the minimum closed angle of the pot cover relative to the pot body is 0 degree, the angle threshold value can be set to be an angle value larger than or equal to 0 degree, when the closed angle of the pot cover at a certain moment is smaller than or equal to the angle threshold value, the pot cover is completely closed, and at the moment, the motor is stopped to drive the pot cover to move.

To sum up, confirm the running state of pot cover through the mode of confirming the pot cover angle that opens and shuts to control motor that can be accurate drives the pot cover motion, realizes can accomplishing the control to the motor fast opening and shutting the in-process, thereby avoids producing the damage to motor or pot cover, also can improve user's experience simultaneously and feels.

Further, when confirming the pot cover angle that opens and shuts, it is articulated through the axis of rotation to consider the pot cover and the pot body, in order to can the accurate measurement angle that opens and shuts, can connect rotatory potentiometre in the axis of rotation, gather the voltage signal that rotatory potentiometre corresponds and survey the angle that opens and shuts, that is to say, the angle that opens and shuts of pot cover and the voltage signal of rotatory potentiometre are linear relation, if confirm correlation factor, can establish the two relation, thereby realize the accurate collection to the angle that opens and shuts, in this embodiment, concrete implementation is as follows:

acquiring voltage signals at two ends of a rotary potentiometer connected with a rotating shaft of the pot cover; and determining the opening and closing angle of the pot cover according to the voltage signals at the two ends of the rotary potentiometer.

Specifically, the pot cover is hinged with the pot body through the rotating shaft, and the included angle formed by the pot body and the pot cover is the opening and closing angle at the current moment, so that the rotating potentiometer can be connected with the rotating shaft, and when the pot cover rotates, the rotating shaft rotates. And then the sliding sheet of the rotary potentiometer is driven to move so as to change the resistance value of the rotary potentiometer, the resistance value of the rotary potentiometer changes, the voltage of the two sections of the rotary potentiometer also changes, and the voltage and the opening and closing angle are in a linear relation, so that the opening and closing angle of the pot cover can be indirectly determined through the rotary potentiometer.

Further, according to the voltage signal at the two ends of the rotary potentiometer, the opening and closing angle of the pot cover is determined, and the method comprises the following steps: and determining the opening and closing angle of the pot cover according to the voltage signals at the two ends of the rotary potentiometer, the preset first uncovering angle and the corresponding voltage signals, and the preset second uncovering angle and the corresponding voltage signals.

On the basis of the opening and closing angle, the preset opening and closing condition is required to be set as an angle threshold value, namely, the motor is controlled to stop driving the pot cover to move under the condition that the opening and closing angle is larger than the set opening and closing angle threshold value.

Specifically, the voltage signal corresponding to the first uncapping angle and the voltage information corresponding to the second uncapping angle can be determined through tests in an actual application scenario. For example, the rotation angle of the pot cover is between 0 and 90 degrees, the minimum value is 0, namely the pot cover and the pot body are closed; the maximum value is 90, namely the pot cover is vertical to the pot body and is in an open state. The first uncapping angle and the second uncapping angle can be determined by randomly selecting two angles between 0 and 90, measuring the voltage corresponding to the rotary potentiometer at the current angle, taking the voltage corresponding to the first uncapping angle as a voltage signal corresponding to the first uncapping angle, and correspondingly taking the voltage corresponding to the second uncapping angle as a voltage signal corresponding to the second uncapping angle so as to conveniently determine the linear relation between the voltage and the opening and closing angle.

Based on this, when the opening and closing angle is maximum (90 degrees), the resistance value of the rotary potentiometer is maximum, the corresponding voltage is 3.3v, when the opening and closing angle is minimum (0 degrees), the resistance value of the rotary positioner is minimum, the corresponding voltage is 0v, that is, the voltage of 1v corresponds to 27.2727 degrees ((90-0)/(3.3-0))) -27.2727; and then derive the 0.0366v voltage corresponding to the opening and closing angle of 1 degree.

Further, in the application stage, if the motor drives the pot cover to rotate, voltage signals at two ends of the rotary potentiometer are determined at each moment, and then the voltage signals measured at each moment are multiplied by 27.2727, so that the opening and closing angle corresponding to the pot cover at the current moment can be determined, and whether the motor is required to stop driving the pot cover to move can be determined by comparing the opening and closing angle with an angle threshold.

In conclusion, the linear relation between the voltage and the opening and closing angle is established, so that the opening and closing angle of the pot cover can be accurately measured under any voltage, the current opening and closing angle of the pot cover can be accurately positioned, the motor can be timely controlled, and the damage to the motor or the pot cover can be avoided.

φ＝{θ/(V2-V1)}*v(1)

Based on this, can be in the automatic in-process that opens of pot cover, detect the angle that opens and shuts of pot cover according to the preset cycle. When the opening and closing angle of the pot cover reaches the preset angle threshold value, the pot cover is controlled to stop rotating, so that the pot cover stays at the preset angle, and the motor is prevented from running excessively. Or, when the opening and closing angle of the pot cover is kept unchanged in a preset number of periods continuously detected, which indicates that the pot cover is blocked by an obstacle to continue rotating, the pot cover can be immediately controlled to stop rotating.

Furthermore, in the cooking process, the pot cover and the pot body are in two states, namely an opening state or a closing state, so that under different requirements, the instruction for controlling the opening and the closing of the pot cover comprises a cover closing instruction or a cover opening instruction; the cover closing instruction corresponds to a cover closing angle threshold, the cover opening instruction corresponds to a cover opening angle threshold, and the cover closing angle threshold is different from the cover opening angle threshold.

That is, in order to control the motor to drive the pot cover to move or stop moving in time under different states, different thresholds are set for the open state and the closed state.

Namely, under the condition that the command is a cover closing command, the opening and closing angle of the pot body is collected in real time, the opening and closing angle at each moment is compared with a cover closing angle threshold value, and when the opening and closing angle at a certain moment is smaller than or equal to the cover closing angle threshold value, the motor is controlled to reduce the voltage duty ratio to drive the pot cover to move, so that the phenomenon that the motor drives the pot cover to excessively extrude the pot body is avoided.

Under the condition that the instruction is the instruction of uncapping, will gather the angle that opens and shuts of the pot body in real time to open and shut the angle and the angle threshold value of uncapping with every moment and compare, when the angle that opens and shuts at a certain moment is greater than the angle threshold value of uncapping, then control motor reduces voltage duty cycle and drives the pot cover motion, in order to avoid the motor to drive the too big production damage of pot cover opening angle.

For example, the maximum opening angle is 80 degrees, when the opening angle threshold is set, the opening angle threshold can be determined to be 72 degrees according to the fact that the preset opening angle is multiplied by 80 by 90%, and 8 degrees are reserved to buffer the pot cover in the opening process; meanwhile, the cover closing angle threshold value can be determined to be 8 degrees by multiplying the preset cover closing angle ratio by 80 to reduce the collision between the pot cover and the pot body in the cover closing process by reserving 8 degrees.

That is to say, when the motor drives the pot cover to be opened or closed, the voltage signal of the rotary potentiometer is acquired through the implementation of the scheme, the opening and closing angle at each moment is calculated by combining the formula (1), then the opening and closing angle is compared with the cover opening angle threshold value of 72 degrees, and when the opening and closing angle at a certain moment is greater than 72 degrees, the motor reduces the voltage duty ratio to drive the pot cover to move; or the opening and closing angle is compared with the closing cover angle threshold value of 8 degrees, and when the opening and closing angle at a certain moment is less than or equal to 8 degrees, the voltage duty ratio of the motor is reduced to drive the cover to move.

On the basis, considering that the pot cover is not completely opened, the pot cover may need to be completely closed or opened under certain scenes, and in order to avoid loss caused by excessive collision, the motor can be continuously utilized to drive the pot cover to move according to a preset current value and rotation time after the motor stops driving the pot cover to move in the first stage until the time reaches, and then the pot cover stops. Namely, the second stage determines a preset current value and preset rotation time; and driving the motor to drive the pot cover to move according to the preset current value, and stopping driving the pot cover to move after the preset rotation time is reached.

The preset current value of the second stage is smaller than that of the motor of the first stage, so that the motor can drive the pot cover to move with smaller power, and the pot cover is slowly driven to the maximum opening and closing angle or closing angle. Correspondingly, the preset rotation time specifically refers to the second-stage motor operation time, and the time is used for driving the motor to drive the pot cover to reach the maximum opening and closing angle, and after the operation time is finished, the motor is stopped from driving the pot cover. In practical applications, the preset current value and the preset rotation time may be set according to practical application scenarios, and the embodiment is not limited herein. It should be noted that the setting of the preset current value also needs to be considered to enable the motor to drive the pot cover to move.

Along with using the example, after the motor drives the pot cover to rotate to 72 degrees and stops, this moment the pot cover will be 72 degrees with the pot body, and the maximum open angle is 80 degrees, consequently can also drive the pot cover and move a period of time, thereby reach the maximum open angle, and in order to avoid causing collision damage, can select the current of the current stage of the duty cycle setting of motor standard current 30%, set for the length of time of rotating simultaneously and be 0.5s, namely in the second stage, the motor will operate with 30% of motor standard current, and drive the pot cover and continue to open, operate 0.5s after and stop, the angle of opening and closing at this moment will be close to 80 degrees, or equal to 80 degrees, reach the maximum open angle, stop.

Or, after the motor drives the pot body to rotate to 8 degrees and stop, the pot cover and the pot body form an angle of 8 degrees at the moment, and the maximum closed angle is 0 degree, so the pot cover can be driven to move for a period of time to reach the maximum closed angle, and in order to avoid causing collision damage, the duty ratio of 20% of the standard current of the motor can be selected to set the current in the current stage, and meanwhile, the rotation duration is set to be 0.5s, namely, in the second stage, the motor operates at 20% of the standard current of the motor and drives the pot cover to be continuously closed, and the pot cover stops after operating for 0.5s, and at the moment, the opening and closing angle approaches to 0 degree or is equal to 0 degree, the maximum closed angle is reached, and the pot cover stops.

It should be noted that, in the process of changing the current value of the motor, the voltage of the motor actually changes, so that the current changes. In this process, the change of the current corresponds to the process of switching from the first stage to the second stage in the above embodiment, and the switching process may refer to the above embodiment and will not be described in detail herein.

To sum up, through continue to drive the pot cover motion with less electric current in the buffer interval, can be so that the angle of opening and shutting reaches the maximum value, realize not having the virtual position, convenience of customers uses more, can also avoid the beat-to-beat collision, produce the damage to the pot body or pot cover.

On the other hand, the embodiment of the application also provides another opening and closing cover control method for controlling the movement of the cover, and the method can also be applied to intelligent cooking equipment. As shown in fig. 3a, the intelligent cooking device comprises a pot body and a pot cover, wherein the pot body and the pot cover are hinged through a rotating shaft, and the pot cover is driven by a motor; therefore, when the pot cover is driven by the motor, the rotating shaft can move, and further, when the opening and closing instruction of the pot cover is obtained, the motor can be controlled to drive the pot cover to move in the opening and closing direction corresponding to the instruction; determining the opening and closing angle of the pot cover in the process of driving the pot cover to move by the motor; and under the condition that the opening and closing angle meets the preset opening and closing condition, controlling the motor to stop driving the pot cover to move.

As shown in fig. 3b, the above method for determining the movement of the pot cover may include:

step S302, acquiring a command for controlling the opening and closing of the pot cover, and controlling a motor to drive the pot cover to move in the opening and closing direction corresponding to the command;

step S304, determining the opening and closing angle of the pot cover in the process of driving the pot cover to move by the motor;

and S306, adjusting the voltage duty ratio corresponding to the motor under the condition that the opening and closing angle meets the preset opening and closing condition.

In an optional embodiment, the adjusting the corresponding voltage duty ratio of the motor includes:

and under the condition that the opening and closing angle meets a preset opening and closing condition, switching the first stage to a second stage, wherein the voltage duty ratios of the motor in the first stage and the second stage are different.

In an optional embodiment, the determining the opening and closing angle of the pot cover in the first stage includes:

acquiring voltage signals at two ends of a rotary potentiometer connected with the rotating shaft of the pot cover in the first stage; and determining the opening and closing angle of the pot cover in the first stage according to voltage signals at two ends of the rotary potentiometer.

In an optional embodiment, the determining the opening and closing angle of the pot cover in the first stage according to the voltage signal at the two ends of the rotary potentiometer includes:

and determining the opening and closing angle of the pot cover in the first stage according to the voltage signals at the two ends of the rotary potentiometer, a preset first opening angle and a corresponding voltage signal, and a preset second opening angle and a corresponding voltage signal.

In an optional embodiment, the preset open-close condition includes: the motor drives the movement state of the pot cover to be related to the opening and closing angle of the pot cover.

In an optional embodiment, when the opening and closing angle satisfies a preset opening and closing condition, the switching from the first stage to the second stage includes:

determining a voltage duty ratio and preset rotation time corresponding to a second stage after the motor drives the pot cover to move to a preset opening and closing angle threshold corresponding to the first stage according to the voltage duty ratio corresponding to the first stage; and controlling the motor to drive the pot cover to move according to the voltage duty ratio corresponding to the second stage, and stopping driving the pot cover to move after the preset rotation time is reached.

In an optional embodiment, the instruction comprises a lid closing instruction or a lid opening instruction; the cover closing instruction corresponds to a cover closing angle threshold, cover closing rotation time, a cover closing voltage duty ratio corresponding to a first stage and a cover closing voltage duty ratio corresponding to a second stage; the uncapping instruction corresponds to an uncapping angle threshold, uncapping rotation time, an uncapping voltage duty ratio corresponding to a first stage and an uncapping voltage duty ratio corresponding to a second stage; the cover closing angle threshold value is different from the cover opening angle threshold value, and the cover closing voltage duty ratio corresponding to the second stage is different from the cover opening voltage duty ratio corresponding to the second stage.

In an optional embodiment, the method further comprises:

determining a maximum cover opening angle corresponding to the pot cover, calculating the cover closing angle threshold according to a preset cover closing angle ratio and the maximum cover opening angle, and calculating the cover opening angle threshold according to the preset cover closing angle ratio and the maximum cover opening angle.

In an optional embodiment, the determining the maximum lid opening angle corresponding to the lid includes:

and determining the maximum opening and closing angle interval corresponding to the pot cover, and selecting any opening and closing angle in the maximum opening and closing angle interval as the maximum cover opening angle corresponding to the pot cover.

In an optional embodiment, the method further comprises:

collecting the working current value of the motor; and under the condition that the working current value meets the set current switching condition, controlling the motor to stop driving the pot cover to move.

The third method for controlling the opening and closing cover provided by the present embodiment is the same as the first method for controlling the opening and closing cover provided by the previous embodiment, and details not described in detail in the present embodiment can refer to the description of the technical solution of the method for controlling the opening and closing cover.

The embodiment of the application provides a pot cover, includes: the cooker cover comprises a cooker cover body, a handle and a cover body, wherein the cooker cover body is connected to the cooker body in an openable manner; the pot cover is characterized in that a motor and a Micro Control Unit (MCU) are arranged on the pot cover body, and the MCU is used for executing the following steps:

acquiring an instruction for controlling the opening and closing of the pot cover, and controlling a motor to drive the pot cover to move in the opening and closing direction corresponding to the instruction;

determining the opening and closing angle of the pot cover in the first stage in the process that the motor drives the pot cover to move;

In an optional embodiment, the method further comprises:

and determining a maximum opening and closing angle interval corresponding to the pot cover, and selecting any opening and closing angle in the maximum opening and closing angle interval as a maximum cover opening angle corresponding to the pot cover.

In an optional embodiment, the method further comprises:

The lid provided by this embodiment and the lid opening and closing control method provided by the above embodiment belong to the same concept, and details not described in detail in this embodiment can all refer to the description of the technical solution of the lid opening and closing control method.

Fig. 4a is a schematic structural diagram of an electric machine provided in an exemplary embodiment of the present application; fig. 4b is a schematic structural diagram of a kitchen robot according to an exemplary embodiment of the present application; wherein, this kitchen robot 400 includes: the pot comprises a pot body 401, a pot cover 402 and an MCU404, wherein the pot cover 401 is connected to the pot body 401 in an openable manner; the lid 402 is provided with a motor 403 (the installation position of the motor 403 is shown by a dotted line in fig. 4b, and a specific request of the motor 403 is shown in fig. 4 a), and the motor 403 can drive the lid 402 to move in the opening and closing direction thereof, so as to open or close the lid.

During use, a user can send an instruction for controlling the opening and closing of the pot cover 402. In an alternative embodiment, as shown in fig. 4b, the kitchen robot further comprises: at least one of a display 409 and an audio component 410. Based on the above, the user can send out an instruction for controlling the opening and closing of the pot cover in a voice mode; alternatively, an instruction for controlling the opening and closing of the lid 402 may be issued through the display screen.

Optionally, when receiving an instruction to open and close the pot cover 402, the MCU404 may control the motor 403 to drive the pot cover 402 to move in the opening and closing direction corresponding to the instruction; in the process that the motor 403 drives the pot cover 402 to move, the opening and closing angle of the pot cover 402 relative to the pot body 401 is determined, and under the condition that the opening and closing angle meets the preset opening and closing condition, the motor 403 is controlled to stop driving the pot cover 402 to move. If the instruction is an uncovering instruction, the MCU404 controls the motor 403 to drive the pot cover 402 to move in an uncovering direction; if the command is a lid closing command, the MCU404 controls the motor 403 to drive the lid 402 to move in the lid closing direction.

Further, in an alternative embodiment, as shown in fig. 4a, the motor 403 further includes: stator 403a, rotor 403b, sensing element 403c, and trigger 403 d; one of the sensing member 403c and the triggering member 403d is mounted on the stator 403a, and the other is mounted on the rotor 403 b. For example, the sensing member 403c is mounted on the stator 403a, and the triggering member 403d is mounted on the rotor 403 b; alternatively, the trigger 403d is mounted on the stator 403a and the sensor 403c is mounted on the rotor 403 b. In fig. 4a, the trigger 403d is located on the rotor 403b, and the sensor 403c is located on the stator 403a, but the present invention is not limited thereto. In this embodiment, the number of the sensing members and the triggering members is not limited, and the number of the triggering members and the sensing members may be one or more. The number of the sensing pieces and the number of the triggering pieces can be the same or different. For example, the sensing member and the triggering member may be 2 each; alternatively, as shown in fig. 4a, there are 1 sensing member and 4 triggering members (one of which is hidden by the sensing member, not shown). In the present embodiment, when there are a plurality of triggers, the distribution pattern of the triggers is not limited, and may be, for example, non-uniform distribution, or may be uniform distribution of 4 triggers on the rotor as shown in fig. 4 a. In the present embodiment, when there are a plurality of sensing elements, the distribution pattern of the sensing elements is not limited, and may be, for example, a uniform distribution or a non-uniform distribution, which is not limited.

When the rotor 403b rotates relative to the stator 403a, the motor 403 can move the pot cover 402 in the opening and closing direction corresponding to the rotation direction, and an induction signal is generated between the triggering element 403d and the induction element 403c, and the induction signal can represent the state that the motor 403 drives the pot cover 402 to move.

In the present embodiment, the implementation forms of the sensor and the trigger are not limited. The sensor and the trigger are described below as examples.

Example a 1: the sensing part is a microswitch and is positioned on a rotor of the motor, and the triggering part is a bulge and is positioned on a stator of the motor. The micro-gap switch is connected with MCU, when the rotor is rotatory for the stator, this arch also can be along with the rotor is rotatory, when this arch is rotatory to the position that corresponds with micro-gap switch, can trigger this micro-gap switch, and at this moment, micro-gap switch sends induction signal (for example current signal) to MCU.

Example a 2: the sensing part is a Hall sensor, a magnetic code disc is arranged on a rotor of the motor, and the Hall sensor is arranged on a motor shell above the magnetic code disc; the triggering part is a magnetic induction part and is positioned on the rotor of the motor. When the rotor rotates relative to the stator, the sensing signal between the magnetic sensing piece and the hall sensor is changed continuously, and at the moment, the hall sensor sends a sensing signal (such as a current signal) to the MCU.

In addition, the sensing part and the trigger part also comprise different specific embodiments such as a photoelectric switch, a reflecting plate, an infrared sensor, a bulge and the like. And will not be described in detail herein, and those skilled in the art can make a flexible choice. The triggering part and the sensing part can generate induction signals when the rotor rotates relative to the stator.

On the basis of the above sensing signal, the MCU404 may also collect a sensing signal generated between the trigger 403d and the sensing 403c when the motor 403 moves with the lid 402, and control the motor 403 to stop driving the lid 402 to move when the sensing signal meets a set first opening/closing condition.

The MCU404 may determine whether the lid 402 is opened or closed in place according to the opening/closing angle of the lid, may determine whether the lid 402 is opened or closed in place according to the operating current value of the motor 403, or may determine whether the lid 402 is opened or closed in place according to the opening/closing angle of the lid 402; and whether the switch of the pot cover 402 is in place can be judged by simultaneously combining the working current value of the motor and the opening and closing angle. In any case, when the switch of the pot cover 402 is determined to be in place, the MCU404 controls the motor 403 to stop driving the pot cover 402 to move. In the scheme of determining whether the pot cover 402 is switched in place by simultaneously combining the motor working current value and the opening and closing angle, the motor 403 is controlled to stop driving the pot cover 402 to move under the condition that the working current value is determined to meet the set first opening and closing condition or the opening and closing angle is determined to meet the second opening and closing condition; for details of the first opening and closing condition and the second opening and closing condition, reference may be made to the foregoing embodiments, which are not described herein again.

Namely, the MCU arranged on the pan body of the kitchen robot can execute the following steps: acquiring an instruction for controlling the opening and closing of the pot cover, and controlling a motor to drive the pot cover to move in the opening and closing direction corresponding to the instruction; determining the opening and closing angle of the pot cover in the first stage in the process that the motor drives the pot cover to move; and under the condition that the opening and closing angle meets a preset opening and closing condition, switching the first stage to a second stage, wherein the voltage duty ratios of the motor in the first stage and the second stage are different.

In an optional embodiment, the method further comprises:

The embodiment of the application provides a kitchen robot, can drive the pot cover of pot cover motion in-process to open and shut the operating current of angle and/or motor based on the motor, whether the switch targets in place of automatic identification pot cover, no longer rely on this physical structure of tact switch, can overcome and trigger the pot cover that tact switch time overlength arouses and be opened excessively or close, lead to the problem that pot cover and motor gear case damaged, the safety of pot cover and motor gear case has been ensured, user's experience is felt has been improved.

It should be noted that the kitchen robot 400 provided in this embodiment may further include a seasoning box 405, a heating base 406, a base 407 for carrying the heating base 406, a support 408, and a measuring device 411, in addition to the above-described structure. Wherein, the support 408 extends to the upper part of the pan body 401, the pan cover 402 is fixedly arranged below the support 408, and the upper part of the support is used for bearing the seasoning box 405. Optionally, as shown in fig. 4b, the MCU404, the display screen 409, the audio component 410, and the measuring device 411 are all located on the base 407, and the display screen 409, besides providing an instruction for a user to control the opening and closing of the lid 402, may also be used to display an electronic menu and implement other man-machine interaction operations; the audio component 409 is used to receive or emit speech; the measuring device 411 is used for measuring the amount of seasoning. It should be noted that the MCU404 can also be located on the lid 402.

The seasoning box 405 comprises a seasoning box upper cover, a seasoning box lower cover and a seasoning box body arranged between the seasoning box upper cover and the seasoning box lower cover, and the seasoning box body is provided with a motor which can drive the seasoning box lower cover to rotate; the seasoning box comprises a seasoning box body, a seasoning cavity, a first material inlet and a second material inlet, wherein the seasoning cavity is arranged in the seasoning box body and penetrates through the upper end surface and the lower end surface of the seasoning box body; when the seasoning cavity is rotated to the position of the first material port, the seasoning in the seasoning cavity can be put in through the first material port.

The MCU404 can control the seasoning box body to rotate relative to the lower cover of the seasoning box through a motor on the seasoning box body; detecting an induction signal between the sensing part and the triggering part in the rotation process of the condiment box body; positioning the seasoning box body at an original point position according to the detected induction signal, wherein the original point position is a rotation initial position when the seasoning box body puts seasonings; the control motor drives the seasoning box body to rotate, and when the seasoning cavity is rotated to the position of the first material port, seasoning in the seasoning cavity can be put in through the first material port.

According to the seasoning box capable of automatically throwing the seasonings, the seasoning box body for containing the seasonings can rotate relative to the lower cover of the seasoning box, and the seasonings can be automatically thrown in the rotating process; in order to ensure the putting sequence of the seasonings, the rotating origin position of the seasoning box is set, and the seasoning box body is positioned at the origin position by detecting a sensing signal which can change along with the rotation of the seasoning box body between the sensing part and the triggering part, so that conditions are provided for automatically putting the seasonings in sequence. By adopting the seasoning box provided by the embodiment of the application, the seasoning can be automatically put in, the seasoning does not need to be manually put in by a user, the operation of the user participating in cooking is simplified, the cooking process is more intelligent and efficient, and the viscosity of the user is increased.

Scenario embodiment one:

the following describes a cooking process of a user using a kitchen robot in detail, taking the user cooking braised pork as an example.

The user controls the flow that triggers machine of cooking preparation braised pork through the display screen on the kitchen robot, according to the electronic menu of braised pork of user's selection, the control unit control heating base heating pot body, n minute back, the oil temperature rises, the control unit passes through display screen and audio frequency subassembly suggestion user and puts in the brown sugar, at this moment, the control unit can send the instruction of opening the pot cover, the control motor drives the pot cover and opens, open the in-process at the pot cover, gather the voltage signal that the rotary potentiometer corresponds once every Sms, and calculate the angle that opens and shuts that the pot cover corresponds at the present moment through formula (1). In the process, the opening and closing angle at each moment is compared with a preset opening angle threshold, and if the opening and closing angle at the current moment is smaller than the preset opening angle threshold, the motor continues to drive the pot cover to move; until the opening and closing angle at a certain moment is larger than or equal to the preset opening angle threshold value, the current stage (the first stage) is switched to the second stage, namely, in order to avoid the phenomenon that the pot body shakes due to collision, the pot cover is driven to move for 0.5s by a smaller voltage value after the switching stage, and the operation is stopped after the time is over. At this time, crystal sugar can be added into the pan.

Furthermore, after the rock sugar is added, the control unit can send an instruction for closing the pot cover, the motor is controlled to drive the pot cover to be closed, voltage signals corresponding to the rotary potentiometer are collected every Sms in the process of closing the pot cover, and the opening and closing angle corresponding to the pot cover at the current moment is calculated through the formula (1). In the process, the opening and closing angle at each moment is compared with a preset closing angle threshold, and if the opening and closing angle at the current moment is larger than the preset closing angle threshold, the motor continues to drive the pot cover to move; until the opening and closing angle at a certain moment is smaller than or equal to the preset opening and closing angle threshold value, the current stage (the first stage) is switched to the second stage, namely, in order to avoid the phenomenon that the pot body shakes due to collision, the pot cover is driven to move for 0.5s by a smaller voltage value after the switching stage, and the operation is stopped after the time is over. At this time, the cooking of the red-cooked meat is continued.

Scenario embodiment two:

the following describes a process of cooking by a user using an intelligent cooker equipped with the above-mentioned cover, taking cooking tomato-fried eggs by the user as an example.

The user controls and triggers the flow of making tomato eggs by a frying machine through a display screen, and according to the electronic menu of frying eggs by using tomatoes selected by the user: firstly, the control unit controls the heating base to heat the pot body, after n1 minutes, the control unit controls the seasoning box body to rotate by 60 degrees relative to the lower cover of the seasoning box, the first seasoning cavity rotates to the first material port of the lower cover of the seasoning box, and 10ml of edible oil is put into the pot body; after 30s, the oil temperature rises, and the control unit prompts the user to throw scattered eggs into the pan body through the display screen and the audio component. At the moment, the control unit can send an instruction for opening the pot cover to control the motor to drive the pot cover to open, and in the process of opening the pot cover, the control unit collects the working current value of the motor which is greater than a set first current threshold 900 milliamperes within the time range of 25 seconds for opening the pot cover, and the working current value of the motor is greater than 100ms, the motor is controlled to stop driving the pot cover to move, and the pot cover is judged to be in an open state; otherwise, the motor is controlled to drive the pot cover to continue to move. The control unit continuously acquires the working current value of the motor and the number of pulse signals generated between the trigger part and the induction part; judging that the working current value of the motor is larger than a set first current threshold value 900MA within 2.5-5 s of the operation of the motor, the duration is longer than 10ms, and the number of pulse signals is 25, judging that the pot cover is opened completely, controlling the motor to stop driving the pot cover to move by the control unit, and putting scattered eggs and tomatoes into the pot body by a user; a user controls or triggers an instruction of closing the cover through a display screen, the control unit controls the motor to drive the cover to close the cover, and the control unit continuously collects the working current value of the motor and the number of pulse signals generated between the triggering part and the sensing part in the cover closing process of the cover; the control unit judges that the working current value of the motor is larger than a set second current threshold value 300MA within 2.5s of the motor operation, the time is longer than 100ms, and the number of the pulse signals is 25, and the control unit controls the motor to stop driving the pot cover to move if the pot cover is judged to be closed; otherwise, the motor is controlled to drive the pot cover to continue to move. The control unit acquires that the working current value of the motor is larger than a set second current threshold value 300MA within 2.5s-5s of the operation of the motor, the duration is longer than 10ms, the control unit judges that the cover closing of the pot cover is finished, and the control unit controls the motor to stop driving the pot cover to move. According to an electronic menu of eggs fried by tomatoes, after n2 minutes, the control unit controls the seasoning box body to rotate, and 2g of salt, 3g of white sugar and 4g of chicken essence are sequentially put into the pot body; after 30s, the cooker prompts the user that the tomato eggs are completely made through the display screen or the audio component.

Scenario embodiment three:

the following describes a process of cooking eggs by a user using a kitchen robot in detail, taking the example of cooking the scrambled eggs by the user.

The user controls the flow that triggers machine of cooking preparation stir-fry egg through the display screen on the kitchen robot, according to the electronic menu of the stir-fry egg of user's selection, the control unit control heating base heating pot body, n minute back, the oil temperature rises, the control unit passes through display screen and audio component suggestion user and puts in the egg of breaing up, at this moment, the control unit can send the instruction of opening the pot cover, the control motor drives the pot cover and opens, in the pot cover opening process, the operating current value that voltage signal and the motor that the rotatory potentiometre of once rotation corresponds will be gathered to every Sms, and calculate the angle that opens and shuts that the pot cover corresponds at the present moment through formula (1). In the process, the opening and closing angle at each moment is compared with a preset opening angle threshold, meanwhile, the working current value is compared with a first current threshold of 900 milliamperes, and the current duration is compared with the time of 100 ms.

In the process, the opening and closing angle at each moment is compared with a preset opening angle threshold, and if the opening and closing angle at the current moment is smaller than the preset opening angle threshold, or the working current value is smaller than the first current threshold of 900 milliamperes, or the current duration is smaller than 100ms, the motor continues to drive the pot cover to move; and switching to the second stage until the opening and closing angle at a certain moment is greater than or equal to a preset opening angle threshold, the working current value is greater than or equal to the first current threshold 900 milliamperes, and the current duration is greater than or equal to 100 ms. In the second stage, the motor is driven to operate for 0.5s by a smaller voltage value, so that the pot cover is driven by the motor to be completely opened to the maximum opening and closing angle.

Furthermore, after the eggs are put into the pot cover, the control unit can send out a command for closing the pot cover, the motor is controlled to drive the pot cover to be closed, in the process of closing the pot cover, voltage signals corresponding to the rotary potentiometer and working current values corresponding to the motor are collected once every Sms, and the opening and closing angle corresponding to the pot cover at the current moment is calculated through a formula (1). In the process, the opening and closing angle at each moment is compared with a preset closing angle threshold, meanwhile, the working current value is compared with a second current threshold value of 300 milliamperes, and the current duration is compared with the time of 10 ms.

In the process, the opening and closing angle at each moment is compared with a preset closing angle threshold, and if the opening and closing angle at the current moment is larger than the closing angle threshold, or the working current value is smaller than a second current threshold of 300 milliamperes, or the current duration is smaller than 100ms, the motor continues to drive the pot cover to move; and stopping the motor to drive the pot cover to move until the opening and closing angle at a certain moment is less than or equal to the closing angle threshold, the working current value is greater than or equal to the second current threshold by 300 milliamperes, and the current duration is greater than or equal to 100 ms. And continuing to cook the fried eggs.

It should be noted that, in the above scheme for implementing the combination of the scenario example one and the example two, details that are not described in detail can be referred to for the description of the scenario example one and the example two, and are not described in detail herein.

It should be noted that the execution subjects of the steps of the methods provided in the above embodiments may be the same device, or different devices may be used as the execution subjects of the methods. For example, the execution subjects of steps S102 to S106 may be device a; for another example, the execution subject of steps S102 and S104 may be device a, and the execution subject of step S106 may be device B; and so on.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that these operations may be executed out of the order they appear herein or in parallel, and the order of the operations such as S102, S104, etc. is merely used to distinguish various operations, and the order itself does not represent any execution order. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit the types of "first" and "second".

Accordingly, the present application further provides a computer-readable storage medium storing a computer program, where the computer program can implement the steps in the above-mentioned method for controlling the opening and closing cover when executed.

The display screen in fig. 4b includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

The audio component of fig. 4b, described above, may be configured to output and/or input an audio signal. For example, the audio component includes a Microphone (MIC) configured to receive an external audio signal when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method of controlling a switch cover, comprising:

2. The method of claim 1, wherein determining the opening and closing angle of the lid in the first stage comprises:

acquiring voltage signals at two ends of a rotary potentiometer connected with a rotating shaft of the pot cover in the first stage;

and determining the opening and closing angle of the pot cover in the first stage according to voltage signals at two ends of the rotary potentiometer.

3. The method of claim 2, wherein the determining the opening and closing angle of the lid in the first stage according to the voltage signal across the rotary potentiometer comprises:

4. The method according to any one of claims 1 to 3, wherein the preset on-off conditions include: the motor drives the movement state of the pot cover to be related to the opening and closing angle of the pot cover.

5. The method according to claim 4, wherein in the case that the opening and closing angle satisfies a preset opening and closing condition, the first stage is switched to a second stage, which comprises:

determining a voltage duty ratio and preset rotation time corresponding to a second stage after the motor drives the pot cover to move to a preset opening and closing angle threshold corresponding to the first stage according to the voltage duty ratio corresponding to the first stage;

and controlling the motor to drive the pot cover to move according to the voltage duty ratio corresponding to the second stage, and stopping driving the pot cover to move after the preset rotation time is reached.

6. The method of claim 5, wherein the command comprises a close command or an open command; the cover closing instruction corresponds to a cover closing angle threshold, cover closing rotation time, a cover closing voltage duty ratio corresponding to a first stage and a cover closing voltage duty ratio corresponding to a second stage;

the uncapping instruction corresponds to an uncapping angle threshold, uncapping rotation time, an uncapping voltage duty ratio corresponding to a first stage and an uncapping voltage duty ratio corresponding to a second stage;

the cover closing angle threshold value is different from the cover opening angle threshold value, and the cover closing voltage duty ratio corresponding to the second stage is different from the cover opening voltage duty ratio corresponding to the second stage.

7. The method of claim 6, further comprising:

8. The method of claim 7, wherein the determining the maximum lid opening angle corresponding to the lid comprises:

9. The method of claim 1, further comprising:

collecting the working current value of the motor;

and under the condition that the working current value meets the set current switching condition, controlling the motor to reduce the voltage duty ratio to drive the pot cover to move.

10. A method of controlling a switch cover, comprising:

determining the opening and closing angle of the pot cover in the process of driving the pot cover to move by the motor;

and under the condition that the opening and closing angle meets the preset opening and closing condition, controlling the motor to reduce the voltage duty ratio to drive the pot cover to move.

11. The method is characterized by being applied to intelligent cooking equipment, wherein the intelligent cooking equipment comprises a pot body and a pot cover, the pot body and the pot cover are hinged through a rotating shaft, and the pot cover is driven by a motor;

and under the condition that the opening and closing angle meets the preset opening and closing condition, adjusting the voltage duty ratio corresponding to the motor.